Research On High-speed Real-time Mesurement Method Of Target Motion Parameters Based On Binocular Vision

As one of the frontiers of domestic and foreign testing technology,the measurement of target motion parameters can provide important source of proofreading data for experimental testing and technical analysis,which plays an irreplaceable role in the fields of defense industry,aerospace and transportation.Visual measurement,as one of the most widely used non-contact measurement methods,has good adaptability and high measurement accuracy,but most of the visual measurement systems for target motion parameters are used with off-line data processing,which can only process data after the collection of visual sensor,instead of obtaining real-time target motion parameters,like attitude and position.This kind of method,only as a means of auxiliary verification,whose reference value is limited can't meet the needs of real-time measurement.Therefore,this subject has studied the high-speed real-time measurement method of target motion parameters based on binocular vision,and designed a high-speed real-time measurement system for target motion parameters based on binocular vision.The main research contents of this subject are as follows:Firstly,aiming at the problem of binocular vision measurement principle,monocular and binocular camera imaging models and distortion models are described in detail.According to the principle of binocular camera imaging and stereo vision calibration method,a multi-step iterative error compensation method based on binocular camera calibration reconstruction error is proposed to improve the accuracy of binocular camera calibration.This subject also proposes a three-dimensional reconstruction method for the target points.Secondly,aiming at the problem of high-speed real-time measurement for target motion parameters,the method of measuring target motion parameters based on feature plane is proposed.The spatial feature plane is constructed by using three independent non-collinear matching targets.Based on the change of attitude and position of feature plane in left camera coordinate,the target motion parameters can be obtained.And a feasible solution for the problem of target location extraction and tracking matching is proposed.Furthermore,the measurement system has been completed combined with laboratory hardware,including high-speed image acquisition and processing system and binocular camera synchronous external trigger program.Finally,aiming at the measurement system of this subject,the stereo vision calibration experiment of binocular camera is designed and completed high precisely to verify the effectiveness of the multi-step iterative error compensation method proposed in this subject.The performance evaluation experiment of the measurement system is further designed and completed,and the technical solutions proposed in previous article are experimentally verified.In the measurement system precision detection experiment,the motion simulation device is used to simulate the rotation of the target in two degrees of freedom in space.Respectively,the static measurement results and dynamic measurement results is analyzed and compared with laser range finder measurement data and motion simulation device feedback data,and real-time measurement of target motion parameters based on binocular vision is realized.